| 在机器人的控制中自动绕过机械干涉区的策略和算法 |
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| 引用本文： | 吴芳美. 在机器人的控制中自动绕过机械干涉区的策略和算法. 自动化学报, 1988, 14(3): 178-183. |
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| 作者姓名： | 吴芳美 |
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| 作者单位： | 1.上海铁道学院 |
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| 摘 要： | 本文定义了绞接机械系统(AMS)的绞接变量相关空间及绞接件间机械干涉区(MIZ),给出了一个机械干涉区几何模型,提出运动可行性检测和自动绕过机械干涉区的策略和算法,以期提高绞接机器人系统的自动化控制程度.
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| 收稿时间： | 1986-02-24 |
The Strategies and Algorithms for Automatically Rounding the Mechanical Interference Zone in Robot Control |
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| Wu FangMEI. The Strategies and Algorithms for Automatically Rounding the Mechanical Interference Zone in Robot Control. ACTA AUTOMATICA SINICA, 1988, 14(3): 178-183. |
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| Authors: | Wu FangMEI |
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| Affiliation: | 1. Shanghai Institute of Railway Technology |
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| Abstract: | In this paper, a relational space of articulated variates and the Mechanical InterferenceZone (MIZ) between the articulators of Articulated Mechanical System (AMS) are defined.A geometric model for MIZ is shown. To improve the automatization of robotic system control,some strategies and algorithms for verifying the movement feasibility and automaticallyrounding the MIZ in AMS are presented. |
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